JP6377822B2 - Electric brake control system - Google Patents

Description

  The present invention relates to an electric brake control system for controlling a braking force of an electric brake device mounted on a plurality of wheels of a vehicle.

Conventionally, many brake systems for automobiles have been adopted, but with the introduction of advanced brake control such as ABS (Antilock Brake System) in recent years, these controls have been made without complicated hydraulic circuits. An electric brake device that can be used has attracted attention. The electric brake device incorporates an electric linear actuator that converts the rotational motion of the electric motor into a linear motion of the brake pad by a linear motion mechanism. By operating the electric motor with a brake pedal depression signal, etc. In many cases, a brake pad is pressed by a brake pad that is linearly driven by a dynamic actuator to apply a braking force to a wheel (see, for example, Patent Document 1).

  By the way, in the electric brake device as described above, there is a possibility that the fluctuation of the braking force periodically occurs due to the uneven thickness of the brake disc during the braking operation, and abnormal vibration occurs in the vehicle body.

  On the other hand, in Patent Document 2, when the frequency of the periodic braking force fluctuation of the electric brake device is detected and the frequency is proportional to the wheel speed, the electric brake device is operated in a phase opposite to the braking force fluctuation. Thus, it has been proposed to attenuate fluctuations in braking force and prevent abnormal vibration of the vehicle body.

JP-A-6-327190 JP 2000-283193 A

  In the abnormal vibration prevention method proposed in Patent Document 2, even if an electric brake device is equipped on a plurality of wheels of the vehicle, only the electric brake device in which periodic braking force fluctuations are generated is controlled and the control is performed. Since power fluctuations are attenuated, a high output motor is required as an electric motor of each electric brake device, which may increase manufacturing cost and power consumption and increase installation space.

  Accordingly, an object of the present invention is to effectively suppress periodic braking force fluctuations of an electric brake device mounted on a plurality of wheels of a vehicle without increasing the output of the electric motor of each electric brake device. Is to do so.

  In order to solve the above-mentioned problem, the present invention is provided with a plurality of wheels of a vehicle, and converts the rotational motion of the electric motor into linear motion by a linear motion mechanism to apply braking force to the wheels, An electric brake control system including a control device that controls a braking force of each electric brake device, and when the braking force variation occurs in any of the electric brake devices, the control device generates the braking force variation. A configuration is adopted in which the above-described electric brake device and at least one other electric brake device are configured to perform a compensating operation for compensating for the braking force fluctuation while maintaining the total sum of the braking forces constant.

  According to the above configuration, the compensation operation for the periodic braking force fluctuation generated in one electric brake device is performed by the plurality of electric brake devices including the electric brake device in which the braking force fluctuation has occurred. Since the braking force fluctuation can be effectively suppressed even if the operation amplitude of the electric brake device is reduced, the output performance required for the electric motor of each electric brake device is set lower than the conventional abnormal vibration prevention method described above. can do.

  Here, the control device determines the upper limit value of the operation amplitude of the electric brake device that performs the compensation operation as the frequency of the braking force fluctuation and the moment of the braking force around the center of gravity of the vehicle (hereinafter referred to as “turning moment”). And the frequency characteristic of the yaw rate (speed of change of the rotation angle in the turning direction). In this way, the upper limit value of the operation amplitude of the electric brake device that performs the compensation operation is set to be large within a range in which the turning moment caused by the compensation operation does not affect the vehicle behavior according to the frequency of the braking force fluctuation, The braking force fluctuation can be suppressed more effectively.

  Alternatively, at least one of the electric brake devices is arranged in each of the first to fourth quadrants of the coordinate plane with the center of gravity of the vehicle as the origin, and the control device is an electric brake device in which the braking force variation has occurred. Then, the compensation operation may be performed by an electric brake device arranged in a quadrant adjacent to the quadrant where the electric brake device in which the braking force fluctuation occurs is arranged in the front-rear direction of the vehicle. In this way, the turning moment generated on the front wheel side of the vehicle and the turning moment generated on the rear wheel side are canceled out, and the vehicle behavior is hardly affected. Therefore, the operation amplitude of each electric brake device that performs the compensation operation is reduced. By setting the upper limit value large, the braking force fluctuation can be more effectively suppressed as described above.

  Further, as a specific configuration for performing the compensation operation for the braking force fluctuation, the control device receives a command value of the sum of the braking force for the plurality of electric brake devices that perform the compensation operation, and the command value And calculating the operation amount of each electric brake device with respect to the deviation between the sum of the feedback values of the braking force of each electric brake device, or for the plurality of electric brake devices in which the control device performs the compensation operation, A disturbance estimator that estimates the disturbance that causes each of the braking force fluctuations is provided, and the operation amount of each electric brake device is calculated using the deviation between the command value and the feedback value of the braking force, and the disturbance estimator. It is possible to use the disturbance estimation result of each electric brake device.

  As described above, the electric brake control system of the present invention can effectively suppress the periodic braking force fluctuation generated in one electric brake device by the compensation operation of a plurality of electric brakes. By using an electric motor of each electric brake device that has lower output performance than the conventional one, it is possible to reduce the manufacturing cost and power consumption of the electric motor and the installation space.

  Alternatively, by using an electric motor having an output performance equivalent to the conventional one, the range of the braking force fluctuation that can be compensated can be expanded, and the quality of the electric brake control system can be improved.

Overall configuration diagram of the electric brake control system of the first embodiment 1 is a longitudinal front view of the main part of the electric brake device of FIG. a is a graph showing the control behavior of the conventional control method, b is a graph showing the control behavior of the electric brake control system of FIG. Graph showing frequency characteristics of yaw rate with respect to vehicle turning moment The graph which shows the example of the determination method of the compensation operation | movement amplitude according to the frequency of braking force fluctuation | variation Overall configuration diagram of electric brake control system of second embodiment

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows the overall configuration of the electric brake control system of the first embodiment. The electric brake control system includes an electric brake device 1 that is provided on each of two wheels of the vehicle, and a control device 2 that controls the braking force of each electric brake device 1. When a braking force fluctuation occurs in any one of them, the control device 2 causes each electric brake device 1 to perform a compensating operation for compensating for the braking force variation.

  As shown in FIG. 2, the electric brake device 1 has a caliper body portion 13 integrally provided in a housing 12 of an electric linear actuator 11, and a part of the outer peripheral portion of the brake disc 14 is formed in the caliper body portion 13. The fixed brake pad 15 and the movable brake pad 16 are provided on both sides of the brake disk 14, and the movable brake pad 16 is connected and integrated with the outer ring member 17 of the electric linear actuator 11.

  The electric linear actuator 11 transmits the rotation of the rotor shaft of the electric motor (not shown) to the rotation shaft 19 by the gear reduction mechanism 18 and converts the rotation motion of the rotation shaft 19 into the linear motion of the outer ring member 17. . As a linear motion mechanism for performing the motion conversion, a plurality of planetary rollers 20 are incorporated between the rotating shaft 19 and the outer ring member 17, and each planetary roller 20 rotates while rotating by elastic contact with the outer diameter surface of the rotating shaft 19. The outer ring member 17 is moved in the axial direction by the engagement between the spiral groove 20a formed on the outer diameter surface of the planetary roller 20 and the spiral protrusion 17a formed on the inner surface of the outer ring member 17.

  Therefore, when the electric motor of the electric linear actuator 11 is driven to linearly move the outer ring member 17 in a direction approaching the brake disk 14, the movable brake pad 16 connected and integrated with the outer ring member 17 is fixed brake pad. The brake disc 14 is sandwiched with the brake disc 15, and the braking force is applied to the wheel to which the brake disc 14 is attached.

  As shown in FIG. 1, the control device 2 receives a command value of the sum of braking forces and a feedback value of the braking force of each electric brake device 1 for the two electric brake devices 1. With respect to the deviation from the sum of feedback values of the braking force of the electric brake device 1, the operation amount calculator 3 calculates the operation amount of each electric brake device 1, and outputs the calculated operation amount to each electric brake device 1. Is. The operation amount calculator 3 first obtains the total operation amount with respect to the deviation between the command value and the sum of the feedback values, and divides this total operation amount by the number of electric brake devices 1 (in this case, 2) to obtain each electric operation amount. The amount of operation of the brake device 1 is used. You may make it distribute the operation amount of each electric brake device 1 with the distribution rate which determined the total operation amount according to other conditions.

  In other words, when a braking force fluctuation occurs in one of the two electric brake devices 1, the control device 2 applies a braking force to both the electric brake devices 1 while keeping the total sum of the braking forces constant. A compensation operation for compensating for the fluctuation is performed.

  FIG. 3 conceptually shows the control behavior in this electric brake control system in comparison with the conventional one. When a periodic braking force fluctuation occurs in one of the electric brake devices A during the braking operation using the two electric brake devices A and B, conventionally, as shown in FIG. Since the compensation operation is performed only by the electric brake device A in which fluctuation has occurred, the operation amplitude of the electric brake device A (the amplitude of the change in the motor rotation angle in the figure) increases, and the braking force of the electric brake device A alone and Some variation will remain in the total braking force. On the other hand, in this electric brake control system, as shown in FIG. 3B, both electric brake devices A and B are caused to perform a compensation operation with an operation amplitude smaller than the operation amplitude of the conventional electric brake device A. Therefore, although the electric brake device A alone has a slightly larger fluctuation in braking force than in the past, the electric brake device B operates in a phase opposite to that of the electric brake device A so as to produce an unprecedented braking force variation, and the total braking force Is kept constant.

  As described above, in this electric brake control system, since the operation amplitude of each electric brake device can be made smaller than before, it is possible to easily compensate for the braking force fluctuation of the entire vehicle and output the electric motor of each electric brake device. With low performance, manufacturing cost and power consumption can be reduced, and installation space can be reduced.

  By the way, in this electric brake control system, when one electric brake device 1 is disposed on each of the left and right sides of the vehicle, a difference occurs between the left and right braking forces, and a turning moment unintended by the driver is generated around the center of gravity of the vehicle. To do. However, the effect of the turning moment on the vehicle behavior is to limit the operation amplitude of the compensation operation of each electric brake device 1 based on the frequency of the braking force fluctuation and the frequency characteristic of the yaw rate with respect to the turning moment of the vehicle. It can be suppressed.

  That is, as shown in FIG. 4, the yaw rate with respect to the turning moment of the vehicle generally tends to attenuate as the turning moment frequency becomes higher in the frequency band higher than the cutoff frequency. Therefore, the cut-off frequency and the attenuation rate of the yaw rate are grasped in advance, and the braking force fluctuation frequency generated by the compensation operation of each electric brake device 1 becomes higher than the yaw rate cut-off frequency, and the yaw rate generated after being attenuated is If the operation amplitude of each electric brake device 1 is limited so as to be less than the allowable value, the behavior of the vehicle is not affected.

  Here, the yaw rate is more easily attenuated as the turning moment becomes higher as described above. Therefore, as shown in FIG. 5, the upper limit value of the operation amplitude of each electric brake device 1 is the cut of the yaw rate at the frequency of the braking force fluctuation. The higher the frequency in the frequency band higher than the off frequency, the larger the setting can be made. If the upper limit value of the operation amplitude is set in this manner, the braking force fluctuation can be more effectively suppressed as the frequency of the braking force fluctuation becomes higher. In addition, since the electric motor generally requires higher output performance as the operating frequency becomes higher, the effect of lowering the output of the electric motor as compared with the conventional motor becomes larger. This function of limiting the operation amplitude is implemented in the operation amount calculator 3 of the control device 2.

  On the other hand, when this electric brake control system is applied to a vehicle equipped with the electric brake device on the front and rear four wheels, that is, the electric brake device in each of the first to fourth quadrants of the coordinate plane with the center of gravity of the vehicle as the origin. In the overall configuration shown in FIG. 1, the control device 2 includes the electric brake device 1 in which the braking force fluctuation occurs and the electric brake device 1 in which the braking force fluctuation occurs. The electric brake device 1 disposed in the quadrant adjacent to the existing quadrant in the front-rear direction of the vehicle may be caused to perform the compensation operation.

  In this way, for example, when the braking force on the right rear wheel of the vehicle increases, the braking force on the right front wheel decreases, and a clockwise turning moment is generated due to an imbalance between the left and right braking forces on the rear wheel side. On the other hand, a counterclockwise turning moment is generated due to an imbalance of the left and right braking forces on the front wheel side, and the turning moments are offset. If the turning moment generated on the front wheel side of the vehicle and the turning moment generated on the rear wheel side are offset in this way, the vehicle behavior is hardly affected, so the upper limit value of the operation amplitude of each electric brake device 1 performing the compensation operation Can be set larger to more effectively suppress braking force fluctuations.

  In this case, the function of setting the upper limit value of the operation amplitude of the electric brake device according to the frequency of the above-described braking force fluctuation is not necessary.

  FIG. 6 shows an electric brake control system of the second embodiment. In this embodiment, each of the two electric brake devices 1 is provided with one control device 2 including a disturbance estimator 4 that estimates a disturbance that causes a variation in braking force. Each control device 2 receives the command value and the feedback value of the braking force of the corresponding electric brake device 1, and passes the disturbance estimation result estimated by the disturbance estimator 4 from the feedback value to each other, and the corresponding electric brake device 1. The manipulated variable calculator 3 performs the calculation of the manipulated variable using the deviation between the command value and the feedback value and the disturbance estimation result of both electric brake devices 1. As the disturbance estimator 4, for example, a same-dimensional observer can be used.

  As a calculation method of the operation amount using the disturbance estimation result of each electric brake device 1 described above, for example, with respect to the operation amount calculated using only the deviation between the command value and the feedback value of one of the electric brake devices 1 By adding the disturbance estimated value of one electric brake device 1 and subtracting the estimated disturbance value of the other electric brake device 1, the braking force of one electric brake device 1 is increased, and the electric brake device 1 of the other electric brake device 1 There is a method of keeping the total braking force constant by decreasing the braking force.

  There is also a method in which the disturbance estimation results of the electric brake devices 1 are integrated and distributed to the control devices 2. For example, an electric brake device for a general vehicle has a larger maximum axial force and a higher caliper body rigidity for the front wheel side than for the rear wheel side. Is compensated on the front wheel side, it is possible to more effectively suppress fluctuations in the total braking force. Or after summing up all the disturbance estimated values of each electric brake device 1, what remove | excluded the low frequency component from the sum total can also be made into the input of each control apparatus 2. FIG. In addition, it is possible to easily perform control according to the situation in consideration of the entire behavior of the vehicle, such as making a difference in the level of the operation amplitude of each electric brake device 1 from the occurrence of the pitching or rolling of the vehicle. .

  The operation amplitude limiting function described above can be implemented in either or both of the operation amount calculator 3 and the disturbance estimator 4 of the control device 2. For example, if the disturbance estimator 4 has a high-pass filter, the estimated disturbance value in the low frequency region can be limited.

  In each of the above-described embodiments, the case where there are two electric brake devices has been described. However, the present invention is naturally applicable to a case where the number of electric brake devices is three or more.

DESCRIPTION OF SYMBOLS 1 Electric brake device 2 Control device 3 Operation amount calculator 4 Disturbance estimator

Claims (1)

An electric brake device that is mounted on a plurality of wheels of a vehicle, converts a rotary motion of an electric motor into a linear motion by a linear motion mechanism and applies a braking force to the wheel, and a control device that controls the braking force of each of the electric brake devices And
When a braking force change occurs in any of the electric brake devices, the control device adds the braking force to the electric brake device in which the braking force change has occurred and at least one other electric brake device. In an electric brake control system that performs a compensation operation for compensating for the braking force variation while maintaining a constant value,
The electric brake device is arranged at least one in each of the first to fourth quadrants of the coordinate plane with the center of gravity of the vehicle as the origin, and the control device has the electric brake device in which the braking force variation occurs, An electric brake control system characterized in that an electric brake device arranged in a quadrant adjacent to the quadrant in which the electric brake device in which the braking force fluctuation occurs is adjacent to the vehicle in the front-rear direction performs the compensation operation.

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